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Fast Motions in Biomechanics and Robotics

Optimization and Feedback Control

  • Book
  • © 2006

Overview

Editors:
  1. Moritz Diehl

    1. Interdisciplinary Center for Scientific Computing - INF 368, University of Heidelberg, Heidelberg, Germany

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    You can also search for this editor in PubMed   Google Scholar

  2. Katja Mombaur

    1. Interdisciplinary Center for Scientific Computing - INF 368, University of Heidelberg, Heidelberg, Germany

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

  • Outcome of a Symposium Fast Motions in Biomechanics and Robotics - Optimization and Feedback Control - held on September 7-9, 2005, Heidelberg
  • Brings together a small number of key researchers from the control, biomechanics and robotics community

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 340)

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Table of contents (21 chapters)

  1. Front Matter

    Pages I-XIII
    Download chapter PDF

  2. Re-injecting the Structure in NMPC Schemes Application to the Constrained Stabilization of a Snakeboard

    • M. Alamir, F. Boyer
    Pages 1-20

  3. Recent Advances on the Algorithmic Optimization of Robot Motion

    • J.E. Bobrow, F.C. Park, A. Sideris
    Pages 21-41

  4. A Spring Assisted One Degree of Freedom Climbing Model

    • J.E. Clark, D.E. Koditschek
    Pages 43-64

  5. Fast Direct Multiple Shooting Algorithms for Optimal Robot Control

    • M. Diehl, H.G. Bock, H. Diedam, P.-B. Wieber
    Pages 65-93

  6. Stability Analysis of Bipedal Walking with Control or Monitoring of the Center of Pressure

    • D. Djoudi, C. Chevallereau
    Pages 95-120

  7. Multi-Locomotion Control of Biped Locomotion and Brachiation Robot

    • T. Fukuda, M. Doi, Y. Hasegawa, H. Kajima
    Pages 121-145

  8. On the Determination of the Basin of Attraction for Stationary and Periodic Movements

    • P. Giesl, H. Wagner
    Pages 147-166

  9. Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion

    • J. Lee, A. Lamperski, J. Schmitt, N. Cowan
    Pages 167-188

  10. Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits

    • R.W. Longman, K.D. Mombaur
    Pages 189-218

  11. Actuation System and Control Concept for a Running Biped

    • T. Luksch, K. Berns, F. Flörchinger
    Pages 219-231

  12. Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet

    • S. Miossec, Y. Aoustin
    Pages 233-252

  13. Performing Open-Loop Stable Flip-Flops — An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions

    • K. Mombaur
    Pages 253-275

  14. Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity

    • B. Morris, E.R. Westervelt, C. Chevallereau, G. Buche, J.W. Grizzle
    Pages 277-297

  15. Velocity-Based Stability Margins for Fast Bipedal Walking

    • J.E. Pratt, R. Tedrake
    Pages 299-324

  16. Nonlinear Model Predictive Control and Sum of Squares Techniques

    • T. Raff, C. Ebenbauer, R. Findeisen, F. Allgöwer
    Pages 325-344

  17. Comparison of Two Measures of Dynamic Stability During Treadmill Walking

    • M. Schablowski, H.J. Gerner
    Pages 345-360

  18. Simple Feedback Control of Cockroach Running

    • J. Schmitt
    Pages 361-381

  19. Running and Walking with Compliant Legs

    • A. Seyfarth, H. Geyer, R. Blickhan, S. Lipfert, J. Rummel, Y. Minekawa et al.
    Pages 383-401

  20. Self-stability in Biological Systems — Studies based on Biomechanical Models

    • H. Wagner, P. Giesl
    Pages 403-410
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Keywords

About this book

In the past decades, much progress has been made in the field of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level.

In order to address this challenge, we invited an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to come together in Heidelberg at the Symposium “Fast Motions in Biomechanics and Robotics – Optimization & Feedback Control” which was held at the International Science Forum (IWH) on September 7–9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.

Editors and Affiliations

  • Interdisciplinary Center for Scientific Computing - INF 368, University of Heidelberg, Heidelberg, Germany

    Moritz Diehl, Katja Mombaur

Bibliographic Information

  • Book Title: Fast Motions in Biomechanics and Robotics

  • Book Subtitle: Optimization and Feedback Control

  • Editors: Moritz Diehl, Katja Mombaur

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/978-3-540-36119-0

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2006

  • Softcover ISBN: 978-3-540-36118-3Published: 20 September 2006

  • eBook ISBN: 978-3-540-36119-0Published: 13 July 2007

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XIV, 446

  • Topics: Control, Robotics, Mechatronics, Systems Theory, Control

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